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3-Lecture 03 Translational Mechanical System3-S

This document provides an overview of linear control systems and transfer functions for translational mechanical systems. It discusses components of mechanical systems like masses, springs, and dampers. It presents equations of motion for systems with one and two degrees of freedom. Examples are given to derive the transfer function relating displacement to applied force for single-input single-output systems. The document concludes with an example problem on finding the transfer function for a two-degrees-of-freedom system and an outline of a three-degrees-of-freedom system for homework.

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Hamza Khan
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218 views

3-Lecture 03 Translational Mechanical System3-S

This document provides an overview of linear control systems and transfer functions for translational mechanical systems. It discusses components of mechanical systems like masses, springs, and dampers. It presents equations of motion for systems with one and two degrees of freedom. Examples are given to derive the transfer function relating displacement to applied force for single-input single-output systems. The document concludes with an example problem on finding the transfer function for a two-degrees-of-freedom system and an outline of a three-degrees-of-freedom system for homework.

Uploaded by

Hamza Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 23

EE-379

LINEAR CONTROL SYSTEMS


Lecture No 3

“CONTROL SYSTEMS ENGINEERING”


Text Book: Chapter 2
(Translational Mechanical System
Transfer Functions)

Instructor: Dr. Iftikhar Ahmad


Class: BEE 5D

Electrical Engineering Department

1
Components of Mechanical System

Dampers Springs

Mass (M)

2
f  ma ; Newton' s Law
dv(t )
f (t )  M
Mass (M)
dt
2
dx (t )
f (t )  M 2
dt
x(t) displacement

f(t) applied force


F (s)  Ms X (s)
2

3
f(t)

x2(t) f (t )  K x1 (t ) one dislpacement


K
f (t )  K  x1 (t )  x2 (t )  two displacements

x1(t) F (s)  K ( X1 (s)  X 2 (s))


f(t)
Spring
4
Dampers (Friction) – Shock Absorbers

x(t)
f(t)

dx(t )
f (t )  B One displacement : one side is fixed
dt
F ( s)  BsX ( s) 5
f(t) dx1 (t )
f (t )  B one displaceme nt
dt
x2(t) dx1 (t ) dx2 (t )
f (t )  B B two dis..
B dt dt

f (t )  B x1 (t )  x2 (t ) 
d
dt
x1(t)

f(t) F (s)  B S ( X1 (s)  X 2 (s))


Damping (Friction)
(Shock absorber)
7
Car - Suspension System Animation
Door Closer
Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement in both directions.
12
Example 2.16 Mass, spring, and damper system
Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)

Block diagram

F ( s)
X ( s) 
Ms 2  f v s  K

14
Alternate method

Free-body diagram of mass, Transformed free-body diagram


spring, and damper system

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)
F ( s)
X ( s) 
Ms 2  f v s  K
15
Two-degrees-of-freedom translational
mechanical system

Block diagram

16
Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 17
 
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

18
forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
19
 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

20
 
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

M s   f
1
2
v1  
 fv1 s  K1  K2  X1 (s)  K2  fv3sX 2 (s)  F (s)

  
 K2  fv3sX1 (s)  M 2 s 2  fv2  fv3 s  K2  K3  X 2 (s)  0

21
Home Assignment
Three-degrees-of-freedom Don’t submit
translational
mechanical system

22
Translational
mechanical system

23
24

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